From 70167a24cdbbda8419369ab5ea02088395cd9e64 Mon Sep 17 00:00:00 2001 From: Paul Gesel Date: Wed, 14 Feb 2024 16:41:11 -0700 Subject: [PATCH] update interface names Signed-off-by: Paul Gesel --- robotiq_driver/src/hardware_interface.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/robotiq_driver/src/hardware_interface.cpp b/robotiq_driver/src/hardware_interface.cpp index 9ed1a45..07a3af0 100644 --- a/robotiq_driver/src/hardware_interface.cpp +++ b/robotiq_driver/src/hardware_interface.cpp @@ -191,13 +191,13 @@ std::vector RobotiqGripperHardwareInterfac info_.joints[0].name, hardware_interface::HW_IF_POSITION, &gripper_position_command_)); command_interfaces.emplace_back( - hardware_interface::CommandInterface(info_.joints[0].name, "gripper_speed", &gripper_speed_)); + hardware_interface::CommandInterface(info_.joints[0].name, "set_gripper_max_velocity", &gripper_speed_)); gripper_speed_ = info_.hardware_parameters.count("gripper_speed_multiplier") ? info_.hardware_parameters.count("gripper_speed_multiplier") : 1.0; command_interfaces.emplace_back( - hardware_interface::CommandInterface(info_.joints[0].name, "gripper_effort", &gripper_force_)); + hardware_interface::CommandInterface(info_.joints[0].name, "set_gripper_max_effort", &gripper_force_)); gripper_force_ = info_.hardware_parameters.count("gripper_force_multiplier") ? info_.hardware_parameters.count("gripper_force_multiplier") : 1.0;